【摘要】 为完成货物的自动搬运,设计了一种圆柱坐标式四自由度机械手,其控制系统采用功能强大、可靠性高的可编程控制器。本文详细论述了PLC控制系统的组成和软件设计,通过PLC驱动步进电动机、直流电动机和气动阀,并借助传感器对机械手的各自由度进行控制,可方便、准确地实现对机械手的位置控制。更多还原

【Abstract】 In order to fulfill free movement of carriage,a column-coordinated four-freedom manipulator was designed with a powerful and highly reliable PLC applied in its control system.The components and software design of PLC control system were discussed in details in this paper.Step motors,direct-current motors and air-operated valve were driven through PLC,and degrees of freedom were controlled with the help of transducers,so the location control of the manipulator was fulfilled by rule and line.更多还原